Robot Tool Tip Point Setting Using Force-Based Contact Detection
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Solution Overview
Problem
Current methods for setting a tool tip point in robots require time, skill, and are dependent on operator proficiency, leading to inconsistent accuracy and time consumption.
Innovation Solution
A robot control device that acquires force data from sensors to calculate the point of action of external forces applied to a tool, allowing intuitive setting of the tool tip point without direct robot operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot operates to contact the tool tip point with a jig for setting, then the tool tip point can be calculated from articular angles, but the setting time becomes long and the process requires operator skill and time
Solution Approach 1:
The patent replaces the mechanical operation method (physically moving the robot and contacting the jig) with a sensor-based detection method. The force sensor detects external force applied to the tool, and the control device calculates the tool tip point coordinates from the force data and robot articular angles, eliminating the need for manual robot operation and jig contact.
Solution Approach 2:
The patent introduces a force sensor as an intermediary device between the tool and the control system. The sensor detects external force applied to the tool, providing data that the control device uses to calculate the tool tip point, thereby mediating the interaction between the operator's manual force application and the robot's coordinate system.
2Manufacturing precision
If the robot operates to contact the tool tip point with a jig for setting, then the tool tip point can be calculated, but the setting accuracy depends on operator proficiency and is not consistent
Solution Approach 1:
The system enables self-service by allowing the tool tip point setting to be performed through simple force application detected by the sensor, without requiring the operator to have specialized skills in robot operation or coordinate calculation. The control device automatically processes the force data and articular angles to determine the tool tip point coordinates.
Solution Approach 2:
The patent replaces the skill-dependent mechanical operation method with an automated sensor-based system. The force sensor and control device work together to calculate the tool tip point from force data and articular angles, eliminating the need for operator expertise in robot manipulation and coordinate geometry.
3Ease of manufacture
If the traditional method is used to set the tool tip point, then the point can be calculated from articular angles, but the process requires robot operation and teaching
Solution Approach 1:
The patent replaces the manual robot operation and teaching process with an automated sensor-based detection system. The force sensor detects external force applied to the tool, and the control device automatically calculates the tool tip point coordinates from the force data and robot articular angles, achieving automatic setting without manual intervention.
Solution Approach 2:
The force sensor serves as an intermediary that enables automatic detection of the tool tip point location. By detecting the external force applied to the tool and transmitting this data to the control device, the sensor mediates the setting process, allowing automatic calculation of coordinates without direct robot operation or teaching.
Data Source
AI summary
In the present invention, a tool tip point can be easily and intuitively defined without having to operate a robot. This robot control device comprises an acquisition unit for acquiring force data indicating an external force applied to a tool mounted to a robot as sensed by a sensor equipped to the robot, a point-of-action calculation unit for calculating the point of action of the external force on the basis of the force data as acquired by the acquisition unit, and a configuration unit for defining the point of action of the external force as a tool tip point of the robot.